Hybrid Differential Dynamic Programming for Planar Manipulation Primitives
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid, under-actuated, and stochastic. We address this by developing hybrid...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2022-01-14T17:03:44Z.
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| Subjects: | |
| Online Access: | Get fulltext |